Controller gains | PID | PD-PID | PI-PD | PIDD-PI |
---|---|---|---|---|
Area 1 (outer loop) | Â | Â | Â | Â |
 KP1* | 0.7623 | 0.6428 | 0.2526 | 0.8654 |
 KI1* | 0.8317 | – | 0.7773 | 0.1727 |
 KDD1* | 0.6369 | 0.5850 | – | 0.4620 |
 N1* | 34.141 | – | – | 27.036 |
Area 2 (outer loop) | Â | Â | Â | Â |
 KP2* | 0.4871 | 0.6232 | 0.5930 | 0.6698 |
 KI2* | 0.6783 | – | 0.9759 | 0.2318 |
 KDD2* | 0.5669 | 0.4161 | – | 0.1919 |
 N2* | 75.944 | – | – | 54.385 |
Area 3 (outer loop) | Â | Â | Â | Â |
 KP3* | 0.6656 | 0.8079 | 0.7394 | 0.6161 |
 KI3* | 0.8552 | – | 0.7035 | 0.3981 |
 KDD3* | 0.5600 | 0.4773 | – | 0.2848 |
 N3* | 60.358 | – | – | 10.075 |
Area 4 (outer loop) | Â | Â | Â | Â |
 KP4* | 0.1966 | 0.7248 | 0.5771 | 0.8909 |
 KI4* | 0.9992 | – | 0.9986 | 0.2990 |
 KDD4* | 0.2077 | 0.6629 | – | 0.8387 |
 N4* | 69.177 | – | – | 39.685 |
Area 1 (inner loop) | Â | Â | Â | Â |
 KPP1* | – | 0.6779 | 0.7904 | 0.9638 |
 KIP1* | – | 0.9358 | – | 0.9330 |
 KD1* | – | 0.4908 | 0.3783 | – |
 NC5* | – | 41.764 | 87.572 | – |
Area 2 (inner loop) | Â | Â | Â | Â |
 KPP2* | – | 0.5718 | 0.4939 | 0.9776 |
 KII2* | – | 0.6510 | – | 0.2645 |
 KD2* | – | 0.6627 | 0.4525 | – |
 NC2* | – | 42.756 | 41.856 | – |
Area 3 (inner loop) | Â | Â | Â | Â |
 KPP3* | – | 0.5201 | 0.7459 | 0.9140 |
 KII3* | – | 0.7932 | – | 0.1336 |
 KD3* | – | 0.3259 | 0.5719 | – |
 NC3* | – | 76.152 | 57.746 | – |
Area 4 (inner loop) | Â | Â | Â | Â |
 KPP4* | – | 0.3118 | 0.9363 | 0.3332 |
 KIP4* | – | 0.9998 | – | 0.9837 |
 KD4* | – | 0.2759 | 0.2216 | – |
 NC4* | – | 38.186 | 44.396 | – |